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WO2008058061A3 - Dispositif de préhension adaptatif, compliant et robuste et procédé de fabrication - Google Patents

Dispositif de préhension adaptatif, compliant et robuste et procédé de fabrication Download PDF

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Publication number
WO2008058061A3
WO2008058061A3 PCT/US2007/083597 US2007083597W WO2008058061A3 WO 2008058061 A3 WO2008058061 A3 WO 2008058061A3 US 2007083597 W US2007083597 W US 2007083597W WO 2008058061 A3 WO2008058061 A3 WO 2008058061A3
Authority
WO
WIPO (PCT)
Prior art keywords
hand
robust
grasper
manufacturing same
adaptive
Prior art date
Application number
PCT/US2007/083597
Other languages
English (en)
Other versions
WO2008058061A2 (fr
Inventor
Aaron Dollar
Robert Howe
Original Assignee
Harvard College
Aaron Dollar
Robert Howe
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harvard College, Aaron Dollar, Robert Howe filed Critical Harvard College
Priority to US12/447,939 priority Critical patent/US8231158B2/en
Publication of WO2008058061A2 publication Critical patent/WO2008058061A2/fr
Publication of WO2008058061A3 publication Critical patent/WO2008058061A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un système de préhension mécanique dont la fabrication et le fonctionnement sont simples, et qui est néanmoins robuste. Selon l'invention, une main comprenant plusieur doigts peut être commandée par un seul actionneur et être pourtant capable de saisir des objets d'une grande variété de tailles, de formes et de masses. La main précitée peut être construite selon un procédé de fabrication par dépôt avec mise en forme ('Shape Deposition Manufacturing' ou SDM) à base de polymère, et comprendre des articulations formées de charnières élastomères, et des composants actionneurs et capteurs noyés dans des polymères rigides et durs. La main adaptative, à compliance passive, de l'invention possède des propriétés supérieures de robustesse; elle est capable de supporter des chocs importants sans être endommagée et de saisir des objets en présence de grossières erreurs de positionnement, toutes qualités qui rendent son utilisation adéquate dans dans environnements non structurés et/ou humains.
PCT/US2007/083597 2006-11-03 2007-11-05 Dispositif de préhension adaptatif, compliant et robuste et procédé de fabrication WO2008058061A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/447,939 US8231158B2 (en) 2006-11-03 2007-11-05 Robust compliant adaptive grasper and method of manufacturing same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US86425206P 2006-11-03 2006-11-03
US60/864,252 2006-11-03

Publications (2)

Publication Number Publication Date
WO2008058061A2 WO2008058061A2 (fr) 2008-05-15
WO2008058061A3 true WO2008058061A3 (fr) 2008-07-31

Family

ID=39365286

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/083597 WO2008058061A2 (fr) 2006-11-03 2007-11-05 Dispositif de préhension adaptatif, compliant et robuste et procédé de fabrication

Country Status (2)

Country Link
US (1) US8231158B2 (fr)
WO (1) WO2008058061A2 (fr)

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US20050218679A1 (en) * 2002-06-24 2005-10-06 Kazuo Yokoyama Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism

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US5501498A (en) * 1988-08-31 1996-03-26 The Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
US5762390A (en) * 1996-07-16 1998-06-09 Universite Laval Underactuated mechanical finger with return actuation
WO2000069375A1 (fr) * 1999-05-19 2000-11-23 Rutgers, The State University Of New Jersey Main prothetique operant avec dexterite
US20050218679A1 (en) * 2002-06-24 2005-10-06 Kazuo Yokoyama Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism

Also Published As

Publication number Publication date
US20090302626A1 (en) 2009-12-10
WO2008058061A2 (fr) 2008-05-15
US8231158B2 (en) 2012-07-31

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